Standard robot: positional uncertainty

Robots have motors connected by linkages to their corresponding axes. Rotary encoders on the motor tell the controller where the end effector is in space. This creates positional uncertainty due to:

• Mechanical wind-up and backlash of drive systems
• Deflections from payload and link masses
• Rail alignment and deflection of linear 7th axis

EI Accurate Robot: positional certainty

EI's Accurate Robot employs scales on each axis to obtain the actual axis position at the axis, rather than just at the motor encoder. This is how we achieve uniquely high accuracy, along with the benefits detailed below:

• Resist deflection from process forces
• Reduce cycle time with higher speeds and acceleration

• Wear in transmission can be ignored
• Extended calibration validity
• Return to locations from any direction for further processing without needing to resynchronize

• Dual encoders enables cross-checking
• Immediate and automatic detection of positioning issues

Enhanced kinematic model accounts for:

• Link positions and lengths
• Payload and link weight deflection (bearing deflections and link bending)
• Feedback scaling
• Axis harmonics, runout
• Base mounting skew
• Tool point location

Additional anti-skid algorithm

• Compensates for robot deflections caused by clamping (pushing) force while drilling

External Linear 7th Axis Enhancement

• Dual drive system with zero backlash, high acceleration, and stiffness
• External encoders to support high rigidity and superior repeatability
• High rigidity equates to extended calibration validity
• Horizontal and vertical axis capability